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  <div class="section" id="cartographer">
<h1>Cartographer<a class="headerlink" href="#cartographer" title="Permalink to this headline">¶</a></h1>
<div class="toctree-wrapper compound">
</div>
<p><a class="reference external" href="https://github.com/googlecartographer/cartographer">Cartographer</a> is a system that provides real-time simultaneous localization
and mapping (<a class="reference external" href="https://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping">SLAM</a>) in 2D and 3D across multiple platforms and sensor
configurations.</p>
<div class="section" id="getting-started">
<h2>Getting started<a class="headerlink" href="#getting-started" title="Permalink to this headline">¶</a></h2>
<p>Cartographer is a standalone C++ library. To get started quickly, use our <a class="reference external" href="http://www.ros.org">ROS</a> integration.</p>
<div class="section" id="getting-started-with-ros">
<h3>Getting started with ROS<a class="headerlink" href="#getting-started-with-ros" title="Permalink to this headline">¶</a></h3>
<p>ROS integration is provided by the <a class="reference external" href="https://github.com/googlecartographer/cartographer_ros">Cartographer ROS repository</a>. You will find
complete documentation for using Cartographer with ROS at the
<a class="reference external" href="https://google-cartographer-ros.readthedocs.io">Cartographer ROS Read the Docs site</a>.</p>
</div>
<div class="section" id="getting-started-without-ros">
<h3>Getting started without ROS<a class="headerlink" href="#getting-started-without-ros" title="Permalink to this headline">¶</a></h3>
<p>Please see our ROS integration as a starting point for integrating your system
with the standalone library. Currently, it is the best available reference.</p>
<p>On Ubuntu 14.04 (Trusty):</p>
<div class="highlight-bash"><table class="highlighttable"><tr><td class="linenos"><div class="linenodiv"><pre> 1
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18</pre></div></td><td class="code"><div class="highlight"><pre><span></span><span class="c1"># Install the required libraries that are available as debs.</span>
sudo apt-get update
sudo apt-get install -y <span class="se">\</span>
    cmake <span class="se">\</span>
    g++ <span class="se">\</span>
    git <span class="se">\</span>
    google-mock <span class="se">\</span>
    libboost-all-dev <span class="se">\</span>
    libcairo2-dev <span class="se">\</span>
    libeigen3-dev <span class="se">\</span>
    libgflags-dev <span class="se">\</span>
    libgoogle-glog-dev <span class="se">\</span>
    liblua5.2-dev <span class="se">\</span>
    libprotobuf-dev <span class="se">\</span>
    libsuitesparse-dev <span class="se">\</span>
    ninja-build <span class="se">\</span>
    protobuf-compiler <span class="se">\</span>
    python-sphinx
</pre></div>
</td></tr></table></div>
<div class="highlight-bash"><table class="highlighttable"><tr><td class="linenos"><div class="linenodiv"><pre>1
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9</pre></div></td><td class="code"><div class="highlight"><pre><span></span><span class="c1"># Build and install Ceres.</span>
git clone https://ceres-solver.googlesource.com/ceres-solver
<span class="nb">cd</span> ceres-solver
mkdir build
<span class="nb">cd</span> build
cmake .. -G Ninja
ninja
ninja <span class="nb">test</span>
sudo ninja install
</pre></div>
</td></tr></table></div>
<div class="highlight-bash"><table class="highlighttable"><tr><td class="linenos"><div class="linenodiv"><pre>1
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8</pre></div></td><td class="code"><div class="highlight"><pre><span></span><span class="c1"># Build and install Cartographer.</span>
<span class="nb">cd</span> cartographer
mkdir build
<span class="nb">cd</span> build
cmake .. -G Ninja
ninja
ninja <span class="nb">test</span>
sudo ninja install
</pre></div>
</td></tr></table></div>
</div>
</div>
<div class="section" id="system-requirements">
<span id="id2"></span><h2>System Requirements<a class="headerlink" href="#system-requirements" title="Permalink to this headline">¶</a></h2>
<p>Although Cartographer may run on other systems, it is confirmed to be working
on systems that meet the following requirements:</p>
<ul class="simple">
<li>64-bit, modern CPU (e.g. 3rd generation i7)</li>
<li>16 GB RAM</li>
<li>Ubuntu 14.04 (Trusty) and 16.04 (Xenial)</li>
<li>gcc version 4.8.4 and 5.4.0</li>
</ul>
<div class="section" id="known-issues">
<h3>Known Issues<a class="headerlink" href="#known-issues" title="Permalink to this headline">¶</a></h3>
<ul class="simple">
<li>32-bit builds have libeigen alignment problems which cause crashes and/or
memory corruptions.</li>
</ul>
</div>
</div>
<div class="section" id="how-to-cite-us">
<h2>How to cite us<a class="headerlink" href="#how-to-cite-us" title="Permalink to this headline">¶</a></h2>
<p>Background about the algorithms developed for Cartographer can be found in the
following publication. If you use Cartographer for your research, we would
appreciate it if you cite our paper.</p>
<p>W. Hess, D. Kohler, H. Rapp, and D. Andor,
<a class="reference external" href="https://research.google.com/pubs/pub45466.html">Real-Time Loop Closure in 2D LIDAR SLAM</a>, in
<em>Robotics and Automation (ICRA), 2016 IEEE International Conference on</em>.
IEEE, 2016. pp. 1271–1278.</p>
</div>
</div>


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  <h3><a href="#">Table Of Contents</a></h3>
  <ul>
<li><a class="reference internal" href="#">Cartographer</a><ul>
<li><a class="reference internal" href="#getting-started">Getting started</a><ul>
<li><a class="reference internal" href="#getting-started-with-ros">Getting started with ROS</a></li>
<li><a class="reference internal" href="#getting-started-without-ros">Getting started without ROS</a></li>
</ul>
</li>
<li><a class="reference internal" href="#system-requirements">System Requirements</a><ul>
<li><a class="reference internal" href="#known-issues">Known Issues</a></li>
</ul>
</li>
<li><a class="reference internal" href="#how-to-cite-us">How to cite us</a></li>
</ul>
</li>
</ul>

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